/////////////////////////////////////////////
// Antler configuration  block

ProcessConfig = ANTLER
{
	MSBetweenLaunches 	= 200
//	ExecutablePath		= /home/jlblanco/code/momr-release/bin
	
	//crucial processes

	Run = MOOSDB        @  NewConsole = false

	Run = pMCENose     	@  NewConsole=true
	//Run = pMobileRobot_Pioneer @ NewConsole = false
	//Run = pJoystickControl     @   NewConsole =false
	//Run = iRobotGUI2010     @   NewConsole =false
	
	// MOOS-Scope: Visualizer of MOOS-DB	

}

ProcessConfig = pMCEnose
{
	AppTick = 10			//Hz
	CommsTick = 1			//Hz
	
	num_chambers = 4		//Number of chambers
	num_sensors_chamber =7	//Number of sensors on each cahmber
	strategy = 2			//Switching strategy 0->NoSwitching, 1->Periodic, 2->Adaptive
	sensorID = 9282 		//Sensor ID to be used within the Switching strategy --> 0 = mean, 9282=0x2442
	minActiveTime = 10		//Minimun time [sec] a chamber must be active (odor flooded). In periodic Switching this is the Period
	decayValue = 0.1		//[Adaptive switching] Decay in the active chamber readings (%) to consider a decay phase --> Switch to other chamber (maxValue - maxValue*decayPercent/100.0 )
	graphics = 1			//Bool value to display the MCE signals (0=false ,1=true)
	graphics_min_x = -20	//[graphics =1] min value on the X axis plot (time)
	graphics_max_x = 120	//[graphics =1] max value on the X axis plot (time)
	min_diff = 0.5			//Minimum reading difference between the actual AC and the candidate AC, to allow switching
	
	COM_port_WIN = COM2
	COM_baudRate = 38400

	//3D position (in meters) of the eNose
	enose_poses_x=0.3 
	enose_poses_y=0.16
	enose_poses_z=0.18

	//3D pose angles (in degrees) of the eNose
	enose_poses_yaw=0
	enose_poses_pitch=0
	enose_poses_roll=0

	
}

ProcessConfig = pMobileRobot_Pioneer
{
	CommsTick = 15
	AppTick = 15

	driver			= CActivMediaRobotBase

	robotPort_WIN 		= COM1
	robotPort_LIN 		= /dev/ttyUSB0
	robotBaud		= 115200

	enableSonars        	= 0     ; 0:Disabled (default), 1: Enabled

}

ProcessConfig = pJoystickControl
{
	CommsTick = 15
	AppTick = 10

	max_v	= 0.1	// Maximum linear speed (m/s)
	max_w	= 10	// Maximum angular speed (deg/s)
}

ProcessConfig = iRobotGUI2010
{
	CommsTick = 4
	AppTick = 4

	// The 3D model of the robot (empty: default model)
	robot_3DS_model_file = ./mapir_sancho_robot.3ds.gz

}